Relax mate, had the same issue in my old MK4 also.
The lower part of the dump pipe was knocking on the heat shield on the steering rack under acceleration, i.e. when the engine twists / rocks...
Fix, bend down some of the heat shield for added clearance and get your self some new engine mounts and an upgraded dogbone mount. Thats what I did, worked for me...
MY18 VW Passat Alltrack Wolfsburg Edition + Panoramic Sunroof + some extra goodies... (Pure White)
MY17 ŠKODA Superb 206TSI 4x4 + Sunroof + Tech Pack + Comfort Pack + some extra goodies... (Moon White)
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